cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

#set(CMAKE_CXX_COMPILER "clang++")

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 2.4.3 REQUIRED)
find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(G2O REQUIRED)
find_package(PCL 1.7 REQUIRED)
# Adding for octomap
find_package(octomap REQUIRED)

#OpenNI  
find_package(OpenNI2 REQUIRED)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${OCTOMAP_INCLUDE_DIRS}
"/usr/include/openni2/"
)

LINK_LIBRARIES( ${OpenNI2_LIBRARY} )

add_definitions( ${PCL_DEFINITIONS} )
link_directories( ${PCL_LIBRARY_DIRS} )

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
src/pointcloudmapping.cc
)

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
g2o_core g2o_types_slam3d g2o_solver_csparse g2o_stuff g2o_csparse_extension g2o_types_sim3 g2o_types_sba
${PCL_LIBRARIES}
${OpenNI2_LIBRARY}
${OCTOMAP_LIBRARIES}
)

# Build examples

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

# add_executable(rgbd_tum
# Examples/RGB-D/rgbd_tum.cc)
# target_link_libraries(rgbd_tum ${PROJECT_NAME})

# add_executable(rgbd_cc
# Examples/RGB-D/rgbd_cc.cc)
# target_link_libraries(rgbd_cc ${PROJECT_NAME})

add_executable(rgbd_xtion_cc
Examples/RGB-D/rgbd_xtion_cc.cpp)
target_link_libraries(rgbd_xtion_cc ${PROJECT_NAME})

# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)

# add_executable(stereo_kitti
# Examples/Stereo/stereo_kitti.cc)
# target_link_libraries(stereo_kitti ${PROJECT_NAME})

# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)

# add_executable(mono_tum
# Examples/Monocular/mono_tum.cc)
# target_link_libraries(mono_tum ${PROJECT_NAME})

# add_executable(mono_kitti
# Examples/Monocular/mono_kitti.cc)
# target_link_libraries(mono_kitti ${PROJECT_NAME})


## .txt >>> .bin 文件转换
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/tools)
add_executable(bin_vocabulary
tools/bin_vocabulary.cc)
target_link_libraries(bin_vocabulary ${PROJECT_NAME})

add_executable(pcd2octomap
tools/pcd2octomap.cc)
target_link_libraries(pcd2octomap ${PROJECT_NAME})
